## SDFormat 4.0 ### SDFormat 4.x.x (2017-xx-xx) ### SDFormat 4.4.0 (2017-10-26) 1. Add ODE parallelization parameters: threaded islands and position correction * [Pull request 380](https://bitbucket.org/osrf/sdformat/pull-request/380) 1. surface.sdf: expand documentation of friction and slip coefficients * [Pull request 343](https://bitbucket.org/osrf/sdformat/pull-request/343) 1. Add preserveFixedJoint option to the URDF parser * [Pull request 352](https://bitbucket.org/osrf/sdformat/pull-request/352) 1. Add light as child of link * [Pull request 373](https://bitbucket.org/osrf/sdformat/pull-request/373) ### SDFormat 4.3.2 (2017-07-19) 1. Add documentation for `Element::GetFirstElement()` and `Element::GetNextElement()` * [Pull request 341](https://bitbucket.org/osrf/sdformat/pull-request/341) 1. Fix parser to read plugin child elements within an `` * [Pull request 350](https://bitbucket.org/osrf/sdformat/pull-request/350) ### SDFormat 4.3.1 (2017-03-24) 1. Fix segmentation Fault in `sdf::getBestSupportedModelVersion` * [Pull request 327](https://bitbucket.org/osrf/sdformat/pull-requests/327) * [Issue 152](https://bitbucket.org/osrf/sdformat/issues/152) ### SDFormat 4.3.0 (2017-03-20) 1. Choosing models with more recent sdf version with `` tag * [Pull request 291](https://bitbucket.org/osrf/sdformat/pull-request/291) * [Issue 123](https://bitbucket.org/osrf/sdformat/issues/123) 1. Added `` to 1.6 surface contact parameters * [Pull request 318](https://bitbucket.org/osrf/sdformat/pull-request/318) 1. Support light insertion in state * [Pull request 325](https://bitbucket.org/osrf/sdformat/pull-request/325) 1. Case insensitive boolean strings * [Pull request 322](https://bitbucket.org/osrf/sdformat/pull-request/322) 1. Enable coverage testing * [Pull request 317](https://bitbucket.org/osrf/sdformat/pull-request/317) 1. Add `friction_model` parameter to ode solver * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) * [Gazebo pull request 1522](https://bitbucket.org/osrf/gazebo/pull-request/1522) 1. Added `sampling` parameter to `` SDF element. * [Pull request 293](https://bitbucket.org/osrf/sdformat/pull-request/293) 1. Added Migration guide * [Pull request 290](https://bitbucket.org/osrf/sdformat/pull-request/290) 1. Add cmake `@PKG_NAME@_LIBRARY_DIRS` variable to cmake config file * [Pull request 292](https://bitbucket.org/osrf/sdformat/pull-request/292) ### SDFormat 4.2.0 (2016-10-10) 1. Added tag to specify ODE friction model. * [Pull request 294](https://bitbucket.org/osrf/sdformat/pull-request/294) 1. Fix URDF to SDF `self_collide` bug. * [Pull request 287](https://bitbucket.org/osrf/sdformat/pull-request/287) 1. Added IMU orientation specification to SDF. * [Pull request 284](https://bitbucket.org/osrf/sdformat/pull-request/284) ### SDFormat 4.1.1 (2016-07-08) 1. Added documentation and animation to `` element. * [Pull request 280](https://bitbucket.org/osrf/sdformat/pull-request/280) 1. Added tag to specify initial joint position * [Pull request 279](https://bitbucket.org/osrf/sdformat/pull-request/279) ### SDFormat 4.1.0 (2016-04-01) 1. Added SDF conversion functions to parser including sdf::convertFile and sdf::convertString. * [Pull request 266](https://bitbucket.org/osrf/sdformat/pull-request/266) 1. Added an upload script * [Pull request 256](https://bitbucket.org/osrf/sdformat/pull-request/256) ### SDFormat 4.0.0 (2015-01-12) 1. Boost pointers and boost::function in the public API have been replaced by their std::equivalents (C++11 standard) 1. Move gravity and magnetic_field tags from physics to world * [Pull request 247](https://bitbucket.org/osrf/sdformat/pull-request/247) 1. Switch lump link prefix from lump:: to lump_ * [Pull request 245](https://bitbucket.org/osrf/sdformat/pull-request/245) 1. New element. A contribution from Olivier Crave * [Pull request 240](https://bitbucket.org/osrf/sdformat/pull-request/240) 1. Add scale to model state * [Pull request 246](https://bitbucket.org/osrf/sdformat/pull-request/246) 1. Use stof functions to parse hex strings as floating point params. A contribution from Rich Mattes * [Pull request 250](https://bitbucket.org/osrf/sdformat/pull-request/250) 1. Fix memory leaks. A contribution from Silvio Traversaro * [Pull request 249](https://bitbucket.org/osrf/sdformat/pull-request/249) 1. Update SDF to version 1.6: new style for representing the noise properties of an `imu` * [Pull request 243](https://bitbucket.org/osrf/sdformat/pull-request/243) * [Pull request 199](https://bitbucket.org/osrf/sdformat/pull-requests/199) ## SDFormat 3.0 ### SDFormat 3.X.X (201X-XX-XX) 1. Improve precision of floating point parameters * [Pull request 273](https://bitbucket.org/osrf/sdformat/pull-requests/273) * [Pull request 276](https://bitbucket.org/osrf/sdformat/pull-requests/276) ### SDFormat 3.7.0 (2015-11-20) 1. Add spring pass through for sdf3 * [Design document](https://bitbucket.org/osrf/gazebo_design/pull-requests/23) * [Pull request 242](https://bitbucket.org/osrf/sdformat/pull-request/242) 1. Support frame specification in SDF * [Pull request 237](https://bitbucket.org/osrf/sdformat/pull-request/237) 1. Remove boost from SDFExtension * [Pull request 229](https://bitbucket.org/osrf/sdformat/pull-request/229) ### SDFormat 3.6.0 (2015-10-27) 1. Add light state * [Pull request 227](https://bitbucket.org/osrf/sdformat/pull-request/227) 1. redo pull request #222 for sdf3 branch * [Pull request 232](https://bitbucket.org/osrf/sdformat/pull-request/232) 1. Fix links in API documentation * [Pull request 231](https://bitbucket.org/osrf/sdformat/pull-request/231) ### SDFormat 3.5.0 (2015-10-07) 1. Camera lens description (Replaces #213) * [Pull request 215](https://bitbucket.org/osrf/sdformat/pull-request/215) 1. Fix shared pointer reference loop in Element and memory leak (#104) * [Pull request 230](https://bitbucket.org/osrf/sdformat/pull-request/230) ### SDFormat 3.4.0 (2015-10-05) 1. Support nested model states * [Pull request 223](https://bitbucket.org/osrf/sdformat/pull-request/223) 1. Cleaner way to set SDF_PATH for tests * [Pull request 226](https://bitbucket.org/osrf/sdformat/pull-request/226) ### SDFormat 3.3.0 (2015-09-15) 1. Windows Boost linking errors * [Pull request 206](https://bitbucket.org/osrf/sdformat/pull-request/206) 1. Nested SDF -> sdf3 * [Pull request 221](https://bitbucket.org/osrf/sdformat/pull-request/221) 1. Pointer types * [Pull request 218](https://bitbucket.org/osrf/sdformat/pull-request/218) 1. Torsional friction default surface radius not infinity * [Pull request 217](https://bitbucket.org/osrf/sdformat/pull-request/217) ### SDFormat 3.2.2 (2015-08-24) 1. Added battery element (contribution from Olivier Crave) * [Pull request #204](https://bitbucket.org/osrf/sdformat/pull-request/204) 1. Torsional friction backport * [Pull request #211](https://bitbucket.org/osrf/sdformat/pull-request/211) 1. Allow Visual Studio 2015 * [Pull request #208](https://bitbucket.org/osrf/sdformat/pull-request/208) ### SDFormat 3.1.1 (2015-08-03) 1. Fix tinyxml linking error * [Pull request #209](https://bitbucket.org/osrf/sdformat/pull-request/209) ### SDFormat 3.1.0 (2015-08-02) 1. Added logical camera sensor to SDF * [Pull request #207](https://bitbucket.org/osrf/sdformat/pull-request/207) ### SDFormat 3.0.0 (2015-07-24) 1. Added battery to SDF * [Pull request 204](https://bitbucket.org/osrf/sdformat/pull-request/204) 1. Added altimeter sensor to SDF * [Pull request #197](https://bitbucket.org/osrf/sdformat/pull-request/197) 1. Added magnetometer sensor to SDF * [Pull request 198](https://bitbucket.org/osrf/sdformat/pull-request/198) 1. Fix detection of XML parsing errors * [Pull request 190](https://bitbucket.org/osrf/sdformat/pull-request/190) 1. Support for fixed joints * [Pull request 194](https://bitbucket.org/osrf/sdformat/pull-request/194) 1. Adding iterations to state * [Pull request 188](https://bitbucket.org/osrf/sdformat/pull-request/188) 1. Convert to use ignition-math * [Pull request 173](https://bitbucket.org/osrf/sdformat/pull-request/173) 1. Add world origin to scene * [Pull request 183](https://bitbucket.org/osrf/sdformat/pull-request/183) 1. Fix collide bitmask * [Pull request 182](https://bitbucket.org/osrf/sdformat/pull-request/182) 1. Adding meta information to visuals * [Pull request 180](https://bitbucket.org/osrf/sdformat/pull-request/180) 1. Add projection type to gui camera * [Pull request 178](https://bitbucket.org/osrf/sdformat/pull-request/178) 1. Fix print description to include attribute description * [Pull request 170](https://bitbucket.org/osrf/sdformat/pull-request/170) 1. Add -std=c++11 flag to sdf_config.cmake.in and sdformat.pc.in, needed by downstream code * [Pull request 172](https://bitbucket.org/osrf/sdformat/pull-request/172) 1. Added boost::any accessor for Param and Element * [Pull request 166](https://bitbucket.org/osrf/sdformat/pull-request/166) 1. Remove tinyxml from dependency list * [Pull request 152](https://bitbucket.org/osrf/sdformat/pull-request/152) 1. Added self_collide element for model * [Pull request 149](https://bitbucket.org/osrf/sdformat/pull-request/149) 1. Added a collision bitmask field to sdf-1.5 and c++11 support * [Pull request 145](https://bitbucket.org/osrf/sdformat/pull-request/145) 1. Fix problems with latin locales and decimal numbers (issue #60) * [Pull request 147](https://bitbucket.org/osrf/sdformat/pull-request/147) * [Issue 60](https://bitbucket.org/osrf/sdformat/issues/60) ## SDFormat 2.x 1. rename cfm_damping --> implicit_spring_damper * [Pull request 59](https://bitbucket.org/osrf/sdformat/pull-request/59) 1. add gear_ratio and reference_body for gearbox joint. * [Pull request 62](https://bitbucket.org/osrf/sdformat/pull-request/62) 1. Update joint stop stiffness and dissipation * [Pull request 61](https://bitbucket.org/osrf/sdformat/pull-request/61) 1. Support for GNUInstallDirs * [Pull request 64](https://bitbucket.org/osrf/sdformat/pull-request/64) 1. `` element used by DEM heightmaps * [Pull request 67](https://bitbucket.org/osrf/sdformat/pull-request/67) 1. Do not export urdf symbols in sdformat 1.4 * [Pull request 75](https://bitbucket.org/osrf/sdformat/pull-request/75) 1. adding deformable properties per issue #32 * [Pull request 78](https://bitbucket.org/osrf/sdformat/pull-request/78) * [Issue 32](https://bitbucket.org/osrf/sdformat/issues/32) 1. Support to use external URDF * [Pull request 77](https://bitbucket.org/osrf/sdformat/pull-request/77) 1. Add lighting element to visual * [Pull request 79](https://bitbucket.org/osrf/sdformat/pull-request/79) 1. SDF 1.5: add flag to fix joint axis frame #43 (gazebo issue 494) * [Pull request 83](https://bitbucket.org/osrf/sdformat/pull-request/83) * [Issue 43](https://bitbucket.org/osrf/sdformat/issues/43) * [Gazebo issue 494](https://bitbucket.org/osrf/gazebo/issues/494) 1. Implement SDF_PROTOCOL_VERSION (issue #51) * [Pull request 90](https://bitbucket.org/osrf/sdformat/pull-request/90) 1. Port sdformat to compile on Windows (MSVC) * [Pull request 101](https://bitbucket.org/osrf/sdformat/pull-request/101) 1. Separate material properties in material.sdf * [Pull request 104](https://bitbucket.org/osrf/sdformat/pull-request/104) 1. Add road textures (repeat pull request #104 for sdf_2.0) * [Pull request 105](https://bitbucket.org/osrf/sdformat/pull-request/105) 1. Add Extruded Polylines as a model * [Pull request 93](https://bitbucket.org/osrf/sdformat/pull-request/93) 1. Added polyline for sdf_2.0 * [Pull request 106](https://bitbucket.org/osrf/sdformat/pull-request/106) 1. Add spring_reference and spring_stiffness tags to joint axis dynamics * [Pull request 102](https://bitbucket.org/osrf/sdformat/pull-request/102) 1. Fix actor static * [Pull request 110](https://bitbucket.org/osrf/sdformat/pull-request/110) 1. New element * [Pull request 112](https://bitbucket.org/osrf/sdformat/pull-request/112) 1. Add camera distortion element * [Pull request 120](https://bitbucket.org/osrf/sdformat/pull-request/120) 1. Inclusion of magnetic field strength sensor * [Pull request 123](https://bitbucket.org/osrf/sdformat/pull-request/123) 1. Properly add URDF gazebo extensions blobs to SDF joint elements * [Pull request 125](https://bitbucket.org/osrf/sdformat/pull-request/125) 1. Allow gui plugins to be specified in SDF * [Pull request 127](https://bitbucket.org/osrf/sdformat/pull-request/127) 1. Backport magnetometer * [Pull request 128](https://bitbucket.org/osrf/sdformat/pull-request/128) 1. Add flag for MOI rescaling to sdf 1.4 * [Pull request 121](https://bitbucket.org/osrf/sdformat/pull-request/121) 1. Parse urdf joint friction parameters, add corresponding test * [Pull request 129](https://bitbucket.org/osrf/sdformat/pull-request/129) 1. Allow reading of boolean values from plugin elements. * [Pull request 132](https://bitbucket.org/osrf/sdformat/pull-request/132) 1. Implement generation of XML Schema files (issue #2) * [Pull request 91](https://bitbucket.org/osrf/sdformat/pull-request/91) 1. Fix build for OS X 10.10 * [Pull request 135](https://bitbucket.org/osrf/sdformat/pull-request/135) 1. Improve performance in loading SDF elements * [Pull request 138](https://bitbucket.org/osrf/sdformat/pull-request/138) 1. Added urdf gazebo extension option to disable fixed joint lumping * [Pull request 133](https://bitbucket.org/osrf/sdformat/pull-request/133) 1. Support urdfdom 0.3 (alternative to pull request #122) * [Pull request 141](https://bitbucket.org/osrf/sdformat/pull-request/141) 1. Update list of supported joint types * [Pull request 142](https://bitbucket.org/osrf/sdformat/pull-request/142) 1. Ignore unknown elements * [Pull request 148](https://bitbucket.org/osrf/sdformat/pull-request/148) 1. Physics preset attributes * [Pull request 146](https://bitbucket.org/osrf/sdformat/pull-request/146) 1. Backport fix for latin locales (pull request #147) * [Pull request 150](https://bitbucket.org/osrf/sdformat/pull-request/150) ## SDFormat 1.4 ### SDFormat 1.4.8 (2013-09-06) 1. Fix inertia transformations when reducing fixed joints in URDF * [Pull request 48](https://bitbucket.org/osrf/sdformat/pull-request/48/fix-for-issue-22-reducing-inertia-across/diff) 1. Add element to support terrain paging in gazebo * [Pull request 47](https://bitbucket.org/osrf/sdformat/pull-request/47/add-element-inside-heightmap/diff) 1. Further reduce console output when using URDF models * [Pull request 46](https://bitbucket.org/osrf/sdformat/pull-request/46/convert-a-few-more-sdfwarns-to-sdflog-fix/diff) * [Commit](https://bitbucket.org/osrf/sdformat/commits/b15d5a1ecc57abee6691618d02d59bbc3d1b84dc) ### SDFormat 1.4.7 (2013-08-22) 1. Direct console messages to std_err * [Pull request 44](https://bitbucket.org/osrf/sdformat/pull-request/44/fix-19-direct-all-messages-to-std_err) ### SDFormat 1.4.6 (2013-08-20) 1. Add tags for GPS sensor and sensor noise * [Pull request 36](https://bitbucket.org/osrf/sdformat/pull-request/36/gps-sensor-sensor-noise-and-spherical) 1. Add tags for wireless transmitter/receiver models * [Pull request 34](https://bitbucket.org/osrf/sdformat/pull-request/34/transceiver-support) * [Pull request 43](https://bitbucket.org/osrf/sdformat/pull-request/43/updated-description-of-the-transceiver-sdf) 1. Add tags for playback of audio files in Gazebo * [Pull request 26](https://bitbucket.org/osrf/sdformat/pull-request/26/added-audio-tags) * [Pull request 35](https://bitbucket.org/osrf/sdformat/pull-request/35/move-audio-to-link-and-playback-on-contact) 1. Add tags for simbody physics parameters * [Pull request 32](https://bitbucket.org/osrf/sdformat/pull-request/32/merging-some-updates-from-simbody-branch) 1. Log messages to a file, reduce console output * [Pull request 33](https://bitbucket.org/osrf/sdformat/pull-request/33/log-messages-to-file-8) 1. Generalize ode's element * [Pull request 38](https://bitbucket.org/osrf/sdformat/pull-request/38/add-provide_feedback-for-bullet-joint) 1. Various bug, style and test fixes ### SDFormat 1.4.5 (2013-07-23) 1. Deprecated Gazebo's internal SDF code 1. Use templatized Get functions for retrieving values from SDF files 1. Removed dependency on ROS